Glider dive log

NAB Apr08 * SG143 * Dive index * Mission links * Dive 144 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 4 HEADING 200 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 144 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 182 ALTIM_TOP_MIN_OBSTACLE 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3816 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT -2030 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 1040 TGT_DEFAULT_LON 5900 C_ROLL_DIVE 2295 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2050 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 8 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 20 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 28 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 53

T_ABORT 720 CALL_TRIES 5 VBD_MIN 490 DEVICE4 35

T_TURN 270 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3071 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -7881.9692 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 1469 AH0_24V 150 SEABIRD_T_G 0.0043273759

SPEED_FACTOR 1 PITCH_MAX 4022 AH0_10V 100 SEABIRD_T_H 0.00064184016

RHO 1.0273 C_PITCH 2800 PRESSURE_YINT -13.47135 SEABIRD_T_I 2.4188148e-05

MASS 51457 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1530041e-05 SEABIRD_T_J 2.4070987e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.197048

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1695373

KALMAN_USE 2 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015330453

HD_A 0.0038360001 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00015523176

HD_B 0.010078 PITCH_AD_RATE 100 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 350 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 27 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 1469 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.1530041e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -13.47135 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON 5900

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 720

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0273 T_GPS_CHARGE -7881.9692

CAPUPLOAD 0 HEADING 200 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 3 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 270

COMPASS_USE 0 ID 143 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3816 T_WATCHDOG 10

C_PITCH 2800 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2050 KALMAN_USE 2 ROLL_MIN 182 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2295 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3071 MASS 51457 R_PORT_OVSHOOT 20 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 28 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.197048 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1695373 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.0015330453 VBD_MAX 3964

DEVICE3 53 N_FILEKB 8 SEABIRD_C_J 0.00015523176 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043273759 VBD_MIN 490

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.00064184016 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4188148e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 144 PHONE_DEVICE 48 SEABIRD_T_J 2.4070987e-06 VBD_TIMEOUT 720

D_ABORT 1040 PITCH_ADJ_DBAND 2 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.02 SIM_W 0

Pre-dive calculations and measurements:

GPS1 072158,6118.882,-2500.408,24,2.2,43,-17.8 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6108.705,-2502.226

_XMS_NAKs 17 TGT_RADIUS 1852.000

_XMS_TOUTs 4 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -48.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 073309,6118.853,-2500.443,13,1.5,13,-17.8 MHEAD_RNG_PITCHd_Wd 217.8,20000,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.002218 XPDR_PINGS 116

SM_CCo 16784,0.00,0.000,0,0,1141,473.43 _24V_AH 19.4,51.074

SM_GC 0.56,7.45,0.00,0.00,0.042,0.000,0.000,1470,2306,1141,-6.08,0.31,473.43 _10V_AH 9.7,36.837

IRIDIUM_FIX 6054.92,-2501.82,280797,070726 DATA_FILE_SIZE 123610,1693

TT8_MAMPS 0.021476 CAP_FILE_SIZE 160906,0

HUMID 1682 CFSIZE 260165632,242589696

INTERNAL_PRESSURE 8.13508 ERRORS 0,0,0,0,0,0,0,0,0,0,0,2,0,0,0

TCM_TEMP 11.80 GPS 030508,121431,6116.475,-2501.622,40,1.1,45,-17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 260 119.80 SBE_CT 1256 24 585.08

Roll_motor 137 71 189.79 SBE_O2 1187 19 437.78

VBD_pump_during_apogee 686 1427 19008.01 Optode 612 33 392.18

VBD_pump_during_surface 0 0 0.00 WL_BB2F 827 105 1685.25

VBD_valve 0 0 0.00 WL_BBFL2VMT 1519 105 3094.57

Iridium_during_init 54 103 108.30 nil 0 0 0.00

Iridium_during_connect 57 160 177.35 nil 0 0 0.00

Iridium_during_xfer 360 223 1557.84

Transponder_ping 29 420 236.29

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.11

TT8 2675 19 513.84

LPSleep 9468 2 201.15

TT8_Active 746 19 143.47

TT8_Sampling 3814 39 1472.46

TT8_CF8 735 45 326.78

TT8_Kalman 0 0 0.00

Analog_circuits 2230 12 259.65

GPS_charging 0 0 0.00

Compass 3810 8 295.69

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

23 end surface: CONTROL_FINISHED_OK

state 24 begin dive

26 -0.82 -194.7 0.0 0.0 0 122 0.00 0.00 -93.80 0.000 2 0.000 0.000 1468 2307 3532

124 -0.82 -194.7 3.2 -5.8 13 149 10.38 2.88 -7.62 0.000 4 0.260 0.065 2613 883 3866

312 -0.77 -194.7 37.9 -13.2 47 320 0.00 2.80 0.00 0.000 6 0.000 0.051 2613 2280 3867

447 -0.66 -194.7 59.7 -17.4 72 455 0.22 0.00 0.00 0.000 6 0.149 0.000 2649 2280 3867

780 -0.66 -194.7 105.2 -13.7 133 786 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2281 3867

1108 -0.66 -194.7 149.3 -13.2 194 1116 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2280 3867

1448 -0.66 -194.7 194.7 -13.2 255 1454 0.00 2.85 0.00 0.000 4 0.000 0.058 2649 3712 3867

1484 -0.66 -194.7 199.1 -13.1 261 1490 0.00 2.75 0.00 0.000 6 0.000 0.041 2649 2276 3867

1824 -0.66 -194.7 243.5 -13.3 322 1829 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2273 3868

2160 -0.66 -194.7 286.7 -12.9 383 2166 0.00 2.88 0.00 0.000 4 0.000 0.056 2649 3715 3868

2196 -0.66 -194.7 291.2 -13.4 389 2202 0.00 2.75 0.00 0.000 6 0.000 0.041 2648 2288 3868

2534 -0.66 -194.7 334.5 -12.6 450 2540 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2284 3868

2864 -0.66 -194.7 374.9 -11.8 492 2866 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2284 3868

3185 -0.66 -194.7 413.4 -12.5 522 3186 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2284 3867

3502 -0.66 -194.7 452.0 -11.9 552 3503 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2284 3868

3820 -0.66 -194.7 490.3 -12.2 582 3821 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2284 3867

4139 -0.66 -194.7 529.4 -12.3 612 4140 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2284 3868

4457 -0.66 -194.7 568.1 -12.3 642 4462 0.00 2.85 0.00 0.000 4 0.000 0.057 2649 3715 3867

4489 -0.66 -194.7 572.1 -12.3 644 4496 0.00 2.75 0.00 0.000 6 0.000 0.042 2648 2294 3867

4811 -0.66 -194.7 610.2 -11.8 671 4812 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2294 3868

5120 -0.66 -194.7 646.8 -11.9 686 5125 0.00 2.80 0.00 0.000 4 0.000 0.064 2649 890 3867

5152 -0.66 -194.7 650.8 -11.9 687 5159 0.00 2.72 0.00 0.000 6 0.000 0.046 2649 2300 3867

5468 -0.66 -194.7 688.1 -11.9 703 5469 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2300 3867

5777 -0.66 -194.7 724.4 -11.7 718 5779 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2302 3867

6086 -0.66 -194.7 760.1 -11.4 733 6088 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2303 3867

6396 -0.66 -194.7 795.4 -11.4 748 6397 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2304 3867

6705 -0.66 -194.7 830.6 -11.2 763 6710 0.00 2.88 0.00 0.000 4 0.000 0.068 2649 889 3866

6736 -0.66 -194.7 834.2 -11.2 764 6743 0.00 2.72 0.00 0.000 6 0.000 0.048 2649 2286 3866

7052 -0.66 -194.7 869.3 -11.5 780 7053 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2288 3866

7361 -0.66 -194.7 903.9 -11.4 795 7362 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2288 3866

7670 -0.66 -194.7 938.5 -11.4 810 7672 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2289 3866

7980 -0.66 -194.7 973.1 -11.0 825 7981 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2289 3866

8143 end dive: TARGET_DEPTH_EXCEEDED

state 8143 begin apogee

8148 -0.19 0.0 991.4 11.0 833 8349 0.62 0.00 197.73 1.427 6 0.118 0.000 2754 2040 3071

8350 end apogee: CONTROL_FINISHED_OK

state 8350 begin climb

8352 0.82 194.7 999.7 0.0 843 8566 1.25 3.17 203.70 1.358 4 0.086 0.071 2972 650 2278

8662 0.70 194.7 974.4 12.9 858 8666 0.00 2.92 0.00 0.000 6 0.000 0.044 2971 2055 2275

8988 0.57 194.7 934.7 12.1 874 8993 0.25 2.90 0.00 0.000 4 0.130 0.061 2930 3461 2273

9054 0.53 194.7 927.6 10.3 877 9059 0.00 2.85 0.00 0.000 6 0.000 0.051 2931 2058 2273

9375 0.50 211.5 897.6 9.4 893 9400 0.12 2.97 17.48 1.381 4 0.130 0.071 2913 643 2208

9508 0.53 236.6 885.5 9.1 899 9542 0.00 2.85 26.50 1.302 6 0.000 0.045 2920 2084 2106

9858 0.58 273.8 854.8 8.7 916 9903 0.00 3.12 38.05 1.332 4 0.000 0.071 2912 640 1954

9994 0.67 311.9 842.7 8.7 922 10040 0.17 2.88 39.58 1.297 6 0.059 0.044 2949 2086 1799

10355 0.62 311.9 795.3 13.2 940 10360 0.00 2.80 0.00 0.000 4 0.000 0.059 2948 3467 1794

10399 0.62 311.9 789.3 13.4 942 10404 0.75 2.78 0.00 0.000 6 0.108 0.051 2921 2092 1792

10720 0.96 311.9 756.7 11.6 958 10726 0.90 2.78 0.00 0.000 4 0.067 0.056 2996 3464 1792

10753 0.96 311.9 752.6 11.3 959 10759 0.00 2.70 0.00 0.000 6 0.000 0.048 3022 2102 1790

11068 0.81 311.9 698.4 17.4 975 11074 0.15 2.97 0.00 0.000 4 0.144 0.068 2972 638 1790

11101 0.71 311.9 692.8 15.6 976 11108 0.00 2.85 0.00 0.000 6 0.000 0.044 2974 2109 1790

11417 0.60 311.9 645.6 15.1 992 11422 0.22 2.70 0.00 0.000 4 0.131 0.055 2933 3469 1790

11449 0.60 311.9 641.3 11.8 993 11456 0.00 2.70 0.00 0.000 6 0.000 0.048 2936 2102 1790

11765 0.61 321.7 610.7 9.7 1009 11777 0.00 0.00 10.02 1.135 6 0.000 0.000 2935 2102 1759

12081 0.61 321.7 579.6 10.1 1033 12086 0.00 2.95 0.00 0.000 4 0.000 0.067 2934 638 1758

12108 0.61 321.7 576.6 10.3 1035 12113 0.00 2.85 0.00 0.000 6 0.000 0.041 2934 2118 1758

12435 0.63 338.9 545.1 9.4 1065 12460 0.00 2.70 19.27 1.185 4 0.000 0.052 2933 3458 1688

12483 0.68 339.7 540.2 10.0 1069 12489 0.00 2.67 0.00 0.000 6 0.000 0.045 2942 2105 1687

12808 0.71 370.3 510.5 8.9 1100 12845 0.00 3.00 31.23 1.121 4 0.000 0.064 2933 632 1561

12872 0.81 392.7 504.6 9.2 1105 12903 0.22 2.90 24.48 1.071 6 0.052 0.040 2981 2119 1470

13228 0.70 392.7 447.5 16.8 1139 13229 0.17 0.00 0.00 0.000 6 0.132 0.000 2956 2119 1463

13549 0.70 392.7 406.6 12.3 1169 13554 0.00 3.03 0.00 0.000 4 0.000 0.064 2955 634 1462

13592 0.70 392.7 401.0 11.5 1172 13599 0.00 2.83 0.00 0.000 6 0.000 0.040 2955 2103 1461

13918 0.70 392.7 360.7 12.6 1203 13922 0.00 2.67 0.00 0.000 4 0.000 0.051 2955 3464 1461

13938 0.70 392.7 357.7 13.6 1204 13945 0.15 2.70 0.00 0.000 6 0.127 0.044 2950 2081 1461

14277 0.83 448.6 328.9 8.1 1257 14340 0.17 2.97 54.92 1.009 4 0.058 0.063 2974 639 1241

14362 0.83 448.6 317.2 14.5 1272 14370 0.00 2.88 0.00 0.000 6 0.000 0.039 2977 2089 1239

14707 0.76 448.6 263.6 15.3 1333 14712 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2089 1236

15046 0.69 448.6 207.8 15.6 1394 15053 0.15 2.92 0.00 0.000 4 0.127 0.061 2951 643 1234

15080 0.69 448.6 203.0 11.6 1400 15088 0.00 2.80 0.00 0.000 6 0.000 0.040 2952 2083 1233

15424 0.69 448.6 165.7 10.5 1461 15430 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2083 1233

15756 0.69 448.6 128.9 11.9 1522 15763 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2084 1233

16091 0.73 448.6 91.4 11.6 1583 16097 0.00 2.92 0.00 0.000 4 0.000 0.062 2951 635 1233

16127 0.82 448.6 87.1 11.3 1589 16133 0.12 2.75 0.00 0.000 6 0.058 0.038 2983 2081 1232

16455 0.72 448.6 30.6 17.2 1650 16464 0.15 2.72 0.00 0.000 4 0.133 0.051 2957 3459 1232

16482 0.72 448.6 26.1 17.0 1654 16490 0.00 2.75 0.00 0.000 6 0.000 0.044 2961 2063 1231

16617 0.72 448.6 10.1 11.5 1679 16625 0.00 2.88 0.00 0.000 4 0.000 0.064 2957 644 1231

16659 0.83 472.3 5.5 9.2 1686 16690 0.10 2.72 23.48 0.825 6 0.047 0.039 2989 2059 1144

16695 end climb: SURFACE_DEPTH_REACHED

state 16696 begin surface coast

16708 end surface coast: CONTROL_FINISHED_OK

state 16708 begin surface

ID	143	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	4	HEADING	200	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	144	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	182	ALTIM_TOP_MIN_OBSTACLE	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3816	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	-2030	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	1040	TGT_DEFAULT_LON	5900	C_ROLL_DIVE	2295	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2050	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	8	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	20	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	28	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	53
T_ABORT	720	CALL_TRIES	5	VBD_MIN	490	DEVICE4	35
T_TURN	270	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3071	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-7881.9692	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	1469	AH0_24V	150	SEABIRD_T_G	0.0043273759
SPEED_FACTOR	1	PITCH_MAX	4022	AH0_10V	100	SEABIRD_T_H	0.00064184016
RHO	1.0273	C_PITCH	2800	PRESSURE_YINT	-13.47135	SEABIRD_T_I	2.4188148e-05
MASS	51457	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1530041e-05	SEABIRD_T_J	2.4070987e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.197048
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1695373
KALMAN_USE	2	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015330453
HD_A	0.0038360001	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00015523176
HD_B	0.010078	PITCH_AD_RATE	100	ALTIM_BOTTOM_PING_RANGE	0

GPS1	072158,6118.882,-2500.408,24,2.2,43,-17.8	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6108.705,-2502.226
_XMS_NAKs	17	TGT_RADIUS	1852.000
_XMS_TOUTs	4	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-48.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	073309,6118.853,-2500.443,13,1.5,13,-17.8	MHEAD_RNG_PITCHd_Wd	217.8,20000,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	990

FINISH	0.1,1.002218	XPDR_PINGS	116
SM_CCo	16784,0.00,0.000,0,0,1141,473.43	_24V_AH	19.4,51.074
SM_GC	0.56,7.45,0.00,0.00,0.042,0.000,0.000,1470,2306,1141,-6.08,0.31,473.43	_10V_AH	9.7,36.837
IRIDIUM_FIX	6054.92,-2501.82,280797,070726	DATA_FILE_SIZE	123610,1693
TT8_MAMPS	0.021476	CAP_FILE_SIZE	160906,0
HUMID	1682	CFSIZE	260165632,242589696
INTERNAL_PRESSURE	8.13508	ERRORS	0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
TCM_TEMP	11.80	GPS	030508,121431,6116.475,-2501.622,40,1.1,45,-17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	260	119.80	SBE_CT	1256	24	585.08
Roll_motor	137	71	189.79	SBE_O2	1187	19	437.78
VBD_pump_during_apogee	686	1427	19008.01	Optode	612	33	392.18
VBD_pump_during_surface	0	0	0.00	WL_BB2F	827	105	1685.25
VBD_valve	0	0	0.00	WL_BBFL2VMT	1519	105	3094.57
Iridium_during_init	54	103	108.30	nil	0	0	0.00
Iridium_during_connect	57	160	177.35	nil	0	0	0.00
Iridium_during_xfer	360	223	1557.84
Transponder_ping	29	420	236.29
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.11
TT8	2675	19	513.84
LPSleep	9468	2	201.15
TT8_Active	746	19	143.47
TT8_Sampling	3814	39	1472.46
TT8_CF8	735	45	326.78
TT8_Kalman	0	0	0.00
Analog_circuits	2230	12	259.65
GPS_charging	0	0	0.00
Compass	3810	8	295.69
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
23	end surface: CONTROL_FINISHED_OK
state	24	begin dive
26	-0.82	-194.7	0.0	0.0	0	122	0.00	0.00	-93.80	0.000	2	0.000	0.000	1468	2307	3532
124	-0.82	-194.7	3.2	-5.8	13	149	10.38	2.88	-7.62	0.000	4	0.260	0.065	2613	883	3866
312	-0.77	-194.7	37.9	-13.2	47	320	0.00	2.80	0.00	0.000	6	0.000	0.051	2613	2280	3867
447	-0.66	-194.7	59.7	-17.4	72	455	0.22	0.00	0.00	0.000	6	0.149	0.000	2649	2280	3867
780	-0.66	-194.7	105.2	-13.7	133	786	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2281	3867
1108	-0.66	-194.7	149.3	-13.2	194	1116	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2280	3867
1448	-0.66	-194.7	194.7	-13.2	255	1454	0.00	2.85	0.00	0.000	4	0.000	0.058	2649	3712	3867
1484	-0.66	-194.7	199.1	-13.1	261	1490	0.00	2.75	0.00	0.000	6	0.000	0.041	2649	2276	3867
1824	-0.66	-194.7	243.5	-13.3	322	1829	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2273	3868
2160	-0.66	-194.7	286.7	-12.9	383	2166	0.00	2.88	0.00	0.000	4	0.000	0.056	2649	3715	3868
2196	-0.66	-194.7	291.2	-13.4	389	2202	0.00	2.75	0.00	0.000	6	0.000	0.041	2648	2288	3868
2534	-0.66	-194.7	334.5	-12.6	450	2540	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2284	3868
2864	-0.66	-194.7	374.9	-11.8	492	2866	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2284	3868
3185	-0.66	-194.7	413.4	-12.5	522	3186	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2284	3867
3502	-0.66	-194.7	452.0	-11.9	552	3503	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2284	3868
3820	-0.66	-194.7	490.3	-12.2	582	3821	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2284	3867
4139	-0.66	-194.7	529.4	-12.3	612	4140	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2284	3868
4457	-0.66	-194.7	568.1	-12.3	642	4462	0.00	2.85	0.00	0.000	4	0.000	0.057	2649	3715	3867
4489	-0.66	-194.7	572.1	-12.3	644	4496	0.00	2.75	0.00	0.000	6	0.000	0.042	2648	2294	3867
4811	-0.66	-194.7	610.2	-11.8	671	4812	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2294	3868
5120	-0.66	-194.7	646.8	-11.9	686	5125	0.00	2.80	0.00	0.000	4	0.000	0.064	2649	890	3867
5152	-0.66	-194.7	650.8	-11.9	687	5159	0.00	2.72	0.00	0.000	6	0.000	0.046	2649	2300	3867
5468	-0.66	-194.7	688.1	-11.9	703	5469	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2300	3867
5777	-0.66	-194.7	724.4	-11.7	718	5779	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2302	3867
6086	-0.66	-194.7	760.1	-11.4	733	6088	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2303	3867
6396	-0.66	-194.7	795.4	-11.4	748	6397	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2304	3867
6705	-0.66	-194.7	830.6	-11.2	763	6710	0.00	2.88	0.00	0.000	4	0.000	0.068	2649	889	3866
6736	-0.66	-194.7	834.2	-11.2	764	6743	0.00	2.72	0.00	0.000	6	0.000	0.048	2649	2286	3866
7052	-0.66	-194.7	869.3	-11.5	780	7053	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2288	3866
7361	-0.66	-194.7	903.9	-11.4	795	7362	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2288	3866
7670	-0.66	-194.7	938.5	-11.4	810	7672	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2289	3866
7980	-0.66	-194.7	973.1	-11.0	825	7981	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2289	3866
8143	end dive: TARGET_DEPTH_EXCEEDED
state	8143	begin apogee
8148	-0.19	0.0	991.4	11.0	833	8349	0.62	0.00	197.73	1.427	6	0.118	0.000	2754	2040	3071
8350	end apogee: CONTROL_FINISHED_OK
state	8350	begin climb
8352	0.82	194.7	999.7	0.0	843	8566	1.25	3.17	203.70	1.358	4	0.086	0.071	2972	650	2278
8662	0.70	194.7	974.4	12.9	858	8666	0.00	2.92	0.00	0.000	6	0.000	0.044	2971	2055	2275
8988	0.57	194.7	934.7	12.1	874	8993	0.25	2.90	0.00	0.000	4	0.130	0.061	2930	3461	2273
9054	0.53	194.7	927.6	10.3	877	9059	0.00	2.85	0.00	0.000	6	0.000	0.051	2931	2058	2273
9375	0.50	211.5	897.6	9.4	893	9400	0.12	2.97	17.48	1.381	4	0.130	0.071	2913	643	2208
9508	0.53	236.6	885.5	9.1	899	9542	0.00	2.85	26.50	1.302	6	0.000	0.045	2920	2084	2106
9858	0.58	273.8	854.8	8.7	916	9903	0.00	3.12	38.05	1.332	4	0.000	0.071	2912	640	1954
9994	0.67	311.9	842.7	8.7	922	10040	0.17	2.88	39.58	1.297	6	0.059	0.044	2949	2086	1799
10355	0.62	311.9	795.3	13.2	940	10360	0.00	2.80	0.00	0.000	4	0.000	0.059	2948	3467	1794
10399	0.62	311.9	789.3	13.4	942	10404	0.75	2.78	0.00	0.000	6	0.108	0.051	2921	2092	1792
10720	0.96	311.9	756.7	11.6	958	10726	0.90	2.78	0.00	0.000	4	0.067	0.056	2996	3464	1792
10753	0.96	311.9	752.6	11.3	959	10759	0.00	2.70	0.00	0.000	6	0.000	0.048	3022	2102	1790
11068	0.81	311.9	698.4	17.4	975	11074	0.15	2.97	0.00	0.000	4	0.144	0.068	2972	638	1790
11101	0.71	311.9	692.8	15.6	976	11108	0.00	2.85	0.00	0.000	6	0.000	0.044	2974	2109	1790
11417	0.60	311.9	645.6	15.1	992	11422	0.22	2.70	0.00	0.000	4	0.131	0.055	2933	3469	1790
11449	0.60	311.9	641.3	11.8	993	11456	0.00	2.70	0.00	0.000	6	0.000	0.048	2936	2102	1790
11765	0.61	321.7	610.7	9.7	1009	11777	0.00	0.00	10.02	1.135	6	0.000	0.000	2935	2102	1759
12081	0.61	321.7	579.6	10.1	1033	12086	0.00	2.95	0.00	0.000	4	0.000	0.067	2934	638	1758
12108	0.61	321.7	576.6	10.3	1035	12113	0.00	2.85	0.00	0.000	6	0.000	0.041	2934	2118	1758
12435	0.63	338.9	545.1	9.4	1065	12460	0.00	2.70	19.27	1.185	4	0.000	0.052	2933	3458	1688
12483	0.68	339.7	540.2	10.0	1069	12489	0.00	2.67	0.00	0.000	6	0.000	0.045	2942	2105	1687
12808	0.71	370.3	510.5	8.9	1100	12845	0.00	3.00	31.23	1.121	4	0.000	0.064	2933	632	1561
12872	0.81	392.7	504.6	9.2	1105	12903	0.22	2.90	24.48	1.071	6	0.052	0.040	2981	2119	1470
13228	0.70	392.7	447.5	16.8	1139	13229	0.17	0.00	0.00	0.000	6	0.132	0.000	2956	2119	1463
13549	0.70	392.7	406.6	12.3	1169	13554	0.00	3.03	0.00	0.000	4	0.000	0.064	2955	634	1462
13592	0.70	392.7	401.0	11.5	1172	13599	0.00	2.83	0.00	0.000	6	0.000	0.040	2955	2103	1461
13918	0.70	392.7	360.7	12.6	1203	13922	0.00	2.67	0.00	0.000	4	0.000	0.051	2955	3464	1461
13938	0.70	392.7	357.7	13.6	1204	13945	0.15	2.70	0.00	0.000	6	0.127	0.044	2950	2081	1461
14277	0.83	448.6	328.9	8.1	1257	14340	0.17	2.97	54.92	1.009	4	0.058	0.063	2974	639	1241
14362	0.83	448.6	317.2	14.5	1272	14370	0.00	2.88	0.00	0.000	6	0.000	0.039	2977	2089	1239
14707	0.76	448.6	263.6	15.3	1333	14712	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2089	1236
15046	0.69	448.6	207.8	15.6	1394	15053	0.15	2.92	0.00	0.000	4	0.127	0.061	2951	643	1234
15080	0.69	448.6	203.0	11.6	1400	15088	0.00	2.80	0.00	0.000	6	0.000	0.040	2952	2083	1233
15424	0.69	448.6	165.7	10.5	1461	15430	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2083	1233
15756	0.69	448.6	128.9	11.9	1522	15763	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2084	1233
16091	0.73	448.6	91.4	11.6	1583	16097	0.00	2.92	0.00	0.000	4	0.000	0.062	2951	635	1233
16127	0.82	448.6	87.1	11.3	1589	16133	0.12	2.75	0.00	0.000	6	0.058	0.038	2983	2081	1232
16455	0.72	448.6	30.6	17.2	1650	16464	0.15	2.72	0.00	0.000	4	0.133	0.051	2957	3459	1232
16482	0.72	448.6	26.1	17.0	1654	16490	0.00	2.75	0.00	0.000	6	0.000	0.044	2961	2063	1231
16617	0.72	448.6	10.1	11.5	1679	16625	0.00	2.88	0.00	0.000	4	0.000	0.064	2957	644	1231
16659	0.83	472.3	5.5	9.2	1686	16690	0.10	2.72	23.48	0.825	6	0.047	0.039	2989	2059	1144
16695	end climb: SURFACE_DEPTH_REACHED
state	16696	begin surface coast
16708	end surface coast: CONTROL_FINISHED_OK
state	16708	begin surface